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More IK smoothing experimentation

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This commit is contained in:
Atlante45 2017-02-24 18:40:36 -08:00
parent 834755588a
commit e9316d30d0
3 changed files with 14 additions and 10 deletions
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2
interface/src/avatar/MyAvatar.cpp
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@ -2496,7 +2496,7 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
setPosition(targetPosition);
setOrientation(targetOrientation);
_rig->setMaxHipsOffsetLength(0.0f);
_rig->setMaxHipsOffsetLength(0.05f);
auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
if (it == _pinnedJoints.end()) {

20
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -262,14 +262,14 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
// descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
while (pivotIndex != -1) {
// compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
glm::vec3 leverArm = tipPosition - jointPosition;
glm::quat deltaRotation;
if (targetType == IKTarget::Type::RotationAndPosition ||
targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
// compute the swing that would get get tip closer
glm::vec3 targetLine = target.getTranslation() - jointPosition;
@ -338,10 +338,15 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
}
glm::quat parentRotation;
if (pivotsParentIndex != -1) {
parentRotation = absolutePoses[pivotsParentIndex].rot();
}
// compute joint's new parent-relative rotation after swing
// Q' = dQ * Q and Q = Qp * q --> q' = Qp^ * dQ * Q
glm::quat newRot = glm::normalize(glm::inverse(
absolutePoses[pivotsParentIndex].rot()) *
parentRotation) *
deltaRotation *
absolutePoses[pivotIndex].rot());
@ -353,7 +358,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// the constraint will modify the local rotation of the tip so we must
// compute the corresponding model-frame deltaRotation
// Q' = Qp^ * dQ * Q --> dQ = Qp * Q' * Q^
deltaRotation = absolutePoses[pivotsParentIndex].rot() * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
deltaRotation = parentRotation * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
}
}
@ -538,10 +543,9 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
_hipsOffset += additionalHipsOffset * tau;
// clamp the horizontal component of the hips offset
float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z));
if (hipsOffsetLength2D > _maxHipsOffsetLength) {
_hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D;
_hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
float hipsOffsetLength = glm::length(_hipsOffset);
if (hipsOffsetLength > _maxHipsOffsetLength) {
_hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
}
}

2
scripts/tutorials/entity_scripts/sit.js
View file

@ -12,7 +12,7 @@
var MAX_IK_ERROR = 20;
var DESKTOP_UI_CHECK_INTERVAL = 250;
var DESKTOP_MAX_DISTANCE = 5;
var SIT_DELAY = 20
var SIT_DELAY = 25
this.entityID = null;
this.timers = {};